therm-ng Changeset - 2b4eb31dd8da · protofusion repositories

Changeset - 2b4eb31dd8da

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Ethan Zonca (ethanzonca) - 8 years ago 2017-06-26 16:27:25
e@ethanzonca.com

Rework some structure to segregate business logic of PID / thermostatic control / temp sensing

15 files changed with 273 insertions and 171 deletions:

.settings/language.settings.xml

inc/display.h

inc/pid.h

inc/pwmout.h

inc/states.h

inc/system/flash.h

inc/tempsense.h

inc/thermostat.h

src/display.c

src/main.c

132

src/pid.c

src/pwmout.c

src/system/flash.c

src/tempsense.c

src/thermostat.c

0 comments (0 inline, 0 general)

.settings/language.settings.xml

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@@ @@ -5,7 +5,7 @@ @@
 			<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
 			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
 			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
-			<provider class="org.eclipse.cdt.managedbuilder.language.settings.providers.GCCBuiltinSpecsDetector" console="false" env-hash="228329417953433416" id="ilg.gnuarmeclipse.managedbuild.cross.GCCBuiltinSpecsDetector" keep-relative-paths="false" name="CDT GCC Built-in Compiler Settings Cross ARM" parameter="${COMMAND} ${FLAGS} ${cross_toolchain_flags} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+			<provider class="org.eclipse.cdt.managedbuilder.language.settings.providers.GCCBuiltinSpecsDetector" console="false" env-hash="-796171634606229038" id="ilg.gnuarmeclipse.managedbuild.cross.GCCBuiltinSpecsDetector" keep-relative-paths="false" name="CDT GCC Built-in Compiler Settings Cross ARM" parameter="${COMMAND} ${FLAGS} ${cross_toolchain_flags} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
 				<language-scope id="org.eclipse.cdt.core.gcc"/>
 				<language-scope id="org.eclipse.cdt.core.g++"/>
 			</provider>
@@ @@ -16,7 +16,7 @@ @@
 			<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
 			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
 			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
-			<provider class="org.eclipse.cdt.managedbuilder.language.settings.providers.GCCBuiltinSpecsDetector" console="false" env-hash="266793431193090206" id="ilg.gnuarmeclipse.managedbuild.cross.GCCBuiltinSpecsDetector" keep-relative-paths="false" name="CDT GCC Built-in Compiler Settings Cross ARM" parameter="${COMMAND} ${FLAGS} ${cross_toolchain_flags} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+			<provider class="org.eclipse.cdt.managedbuilder.language.settings.providers.GCCBuiltinSpecsDetector" console="false" env-hash="-786907217906447192" id="ilg.gnuarmeclipse.managedbuild.cross.GCCBuiltinSpecsDetector" keep-relative-paths="false" name="CDT GCC Built-in Compiler Settings Cross ARM" parameter="${COMMAND} ${FLAGS} ${cross_toolchain_flags} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
 				<language-scope id="org.eclipse.cdt.core.gcc"/>
 				<language-scope id="org.eclipse.cdt.core.g++"/>
 			</provider>

inc/display.h

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@@ @@ -7,7 +7,7 @@ @@
 #include "max31865.h"
 #endif
 void display_startup_screen();
 void display_process(therm_status_t* status);
 void display_startup_screen(void);
 void display_process(void);
 #endif

inc/pid.h

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@@ @@ -10,7 +10,8 @@ typedef struct { @@
 	int32_t i_state;
 } pid_state_t;
 void pid_init(pid_state_t* state);
 int16_t pid_update(therm_settings_t* set, therm_status_t* status, pid_state_t* state);
 void pid_init(void);
 float pid_process(void);
 int16_t pid_update(void);
 #endif

inc/pwmout.h

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@@ new file 100644 @@
 #ifndef PWMOUT_H
 #define PWMOUT_H
 void pwmout_init(void);
 void pwmout_process(float duty);
 #endif

inc/states.h

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@@ @@ -5,11 +5,10 @@ @@
 #include "config.h"
 typedef struct {
     int32_t temp;
     uint8_t temp_frac;
     float temp;
     uint8_t state_resume;
     uint8_t state;
-    int32_t setpoint;
+    float setpoint;
     uint8_t pid_enabled;
     uint8_t error_code;
 } therm_status_t;

inc/system/flash.h

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@@ @@ -13,4 +13,7 @@ void flash_savesettings(void); @@
 void flash_restoresettings(void);
 therm_settings_t* flash_getsettings(void);
 therm_status_t* runtime_status(void);
 #endif // flash_h

inc/tempsense.h

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@@ new file 100644 @@
 #ifndef TEMPSENSE_H
 #define TEMPSENSE_H
 void tempsense_init(void);
 float tempsense_readtemp(void);
 #endif

inc/thermostat.h

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@@ new file 100644 @@
 #ifndef THERMOSTAT_H
 #define THERMOSTAT_H
 #include "stm32f3xx_hal.h"
 float thermostat_process(void);
 #endif

src/display.c

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@@ @@ -39,15 +39,17 @@ static uint8_t reset_mode = RESET_REBOOT @@
 // Display state machine
-void display_process(therm_status_t* status)
+void display_process(void)
+{
 	therm_status_t* status = runtime_status();
 	therm_settings_t* set = flash_getsettings();
     uint8_t state_changed = status->state != last_state;
     last_state = status->state;
-    uint8_t temp_changed = status->temp != last_temp || status->temp_frac != last_temp_frac;
     uint8_t temp_changed = status->temp != last_temp;
     last_temp = status->temp;
     last_temp_frac = status->temp_frac;
     uint8_t sw_btn = !HAL_GPIO_ReadPin(SW_BTN);
     uint8_t sw_up = !HAL_GPIO_ReadPin(SW_UP);
@@ @@ -67,7 +69,7 @@ void display_process(therm_status_t* sta @@
             if(temp_changed || state_changed) {
                 char tempstr[6];
                 itoa_fp(status->temp, status->temp_frac, tempstr);
+//                itoa_fp(status->temp, status->temp_frac, tempstr);
                 ssd1306_drawstring("Temp: ", 3, 40);
                 ssd1306_drawstring("    ", 3, 72);
                 ssd1306_drawstring(tempstr, 3, 72);
@@ @@ -656,19 +658,18 @@ void display_process(therm_status_t* sta @@
+}
 static int32_t temp_last = 43002;
 static int32_t temp_frac_last = 43002;
 static int32_t setpoint_last = 10023;
 static float temp_last = 43002.0;
 static float setpoint_last = 10023.0;
 // Draw current setpoint on display
 static void draw_setpoint(therm_status_t* status) {
     // FIXME: need to do this when switching modes too
     if(status->temp != temp_last || status->temp_frac != temp_frac_last || trigger_drawsetpoint) {
         char tempstr[3];
         itoa_fp(status->temp, status->temp_frac, tempstr);
         ssd1306_drawstringbig("      ", 3, 0);
         ssd1306_drawstringbig(tempstr, 3, 0);
+    }
 //    if(status->temp != temp_last || trigger_drawsetpoint) {
 //        char tempstr[3];
 //        itoa_fp(status->temp, status->temp_frac, tempstr);
 //        ssd1306_drawstringbig("      ", 3, 0);
 //        ssd1306_drawstringbig(tempstr, 3, 0);
 //    }
     if(trigger_drawsetpoint)
         ssd1306_drawstringbig(">", 3, 74);
@@ @@ -683,7 +684,6 @@ static void draw_setpoint(therm_status_t @@
     trigger_drawsetpoint = 0;
     setpoint_last = status->setpoint;
     temp_last = status->temp;
     temp_frac_last = status->temp_frac;
+}
 void display_startup_screen() {

src/main.c

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@@ @@ -6,20 +6,17 @@ @@
 #include "stm32f3xx_hal.h"
 #include "config.h"
 #include "watchdog.h"
 #include "system.h"
 #include "display.h"
 #include "thermostat.h"
 #include "gpio.h"
 #include "tempsense.h"
 #include "pid.h"
 #include "error.h"
 #include "flash.h"
 #include "ssd1306/ssd1306.h"
 #include "interrupts.h"
 therm_status_t status;
 pid_state_t pid_state;
 #include "pwmout.h"
 int main(void)
@@ @@ -28,7 +25,6 @@ int main(void) @@
 	hal_init();
 	gpio_init();
 	ssd1306_init();
 	// Startup screen
@@ @@ -37,149 +33,46 @@ int main(void) @@
 	ssd1306_drawlogo();
     // Default status
 	runtime_status()->temp = 0.0;
 	runtime_status()->state_resume = 0;
 	runtime_status()->state = STATE_IDLE;
 	runtime_status()->setpoint = 70;
 	runtime_status()->pid_enabled = 0;
     // Default status
     status.temp = 0;
     status.temp_frac = 0;
     status.state_resume = 0;
     status.state = STATE_IDLE;
     status.setpoint = 70;
     status.pid_enabled = 0;
     pid_init(&pid_state);
     pid_init();
     pwmout_init();
     flash_init();
 	watchdog_init();
+	tempsense_init();
 	// Soft timers
     uint32_t last_ssr_on = 0;
     uint32_t last_vcp_tx = 0;
     uint32_t last_led = 0;
     uint32_t last_pid = 0;
     uint32_t last_thermostat = 0;
     int16_t ssr_output = 0; // Duty cycle of ssr, 0 to SSR_PERIOD
     uint8_t thermostat_plant_on = 0;
 	while (1)
+	{
 		float duty = 0.0;
         if(flash_getsettings()->val.control_mode == MODE_PID && (HAL_GetTick() - last_pid > PID_PERIOD))
+        {
 //            #ifdef MAX31865_RTD_SENSOR
 //            max31865_readtemp(spi_get(), &set, &status);
 //			#else
 //			max31855_readtemp(spi_get(), &set, &status); // Read MAX31855
 //			#endif
             if(status.pid_enabled)
+            {
                 // Get ssr output for next time
                 int16_t power_percent = pid_update(flash_getsettings(), &status, &pid_state);
                 if(flash_getsettings()->val.plant_type == PLANT_HEATER)
                     power_percent *= -1;
                 //power-percent is 0-1000?
                 ssr_output = power_percent; //(((uint32_t)SSR_PERIOD * (uint32_t)10 * (uint32_t)100) * power_percent) / (uint32_t)1000000;
             	// put ssr output on display
                 ssd1306_drawstring("      ", 0, 90); //fixme: this is bad, but I can't get the old digits to clear otherwise
                 char tempstr[6];
                 itoa(ssr_output, tempstr, 10);
                 ssd1306_drawstring(tempstr, 0, 90);
+            }
             else
+            {
                 ssr_output = 0;
+            }
         	runtime_status()->temp = tempsense_readtemp();
         	duty = pid_process();
             last_pid = HAL_GetTick();
+        }
 //        // Kill SSR once the desired on-time has elapsed
 //        if(set.val.control_mode == MODE_PID && (HAL_GetTick() - last_ssr_on > ssr_output || ssr_output <= 0))
 //        {
 //            HAL_GPIO_WritePin(SSR_PIN, 0);
 //            HAL_GPIO_WritePin(LED_POWER, 0);
 //        }
 //
 //
 //        // Every 200ms, set the SSR on unless output is 0
 //        if(set.val.control_mode == MODE_PID && HAL_GetTick() - last_ssr_on > SSR_PERIOD)
 //        {
 //            // Heat or cool, if we need to
 //            if(ssr_output > 0)
 //            {
 //                HAL_GPIO_WritePin(SSR_PIN, 1);
 //                HAL_GPIO_WritePin(LED_POWER, 1);
 //                last_ssr_on = HAL_GetTick();
 //            }
 //            else {
 //                // Make sure everything is off
 //                HAL_GPIO_WritePin(SSR_PIN, 0);
 //                HAL_GPIO_WritePin(LED_POWER, 0);
 //            }
 //
 //        }
         // Thermostatic control
         if(flash_getsettings()->val.control_mode == MODE_THERMOSTAT && HAL_GetTick() - last_thermostat > SSR_PERIOD)
+        {
 //            #ifdef MAX31865_RTD_SENSOR
 //            max31865_readtemp(spi_get(), &set, &status);
 //			#else
 //			max31855_readtemp(spi_get(), &set, &status); // Read MAX31855
 //			#endif
             // TODO: Migrate this FxP conversion to the readtemp code or similar
             int8_t temp_frac = status.temp_frac > 9 ? status.temp_frac / 10 : status.temp_frac;
             temp_frac = status.temp > 0 ? temp_frac : temp_frac * -1;
             int32_t temp = (status.temp * 10) + temp_frac;
             // EMZ FIXME: This could be way simpler
             if(flash_getsettings()->val.plant_type == PLANT_HEATER && status.setpoint * 10 < temp - flash_getsettings()->val.hysteresis * 10)
                 thermostat_plant_on = 1;
             else if(flash_getsettings()->val.plant_type == PLANT_HEATER && status.setpoint * 10 > temp + flash_getsettings()->val.hysteresis * 10)
                 thermostat_plant_on = 0;
             if(flash_getsettings()->val.plant_type == PLANT_COOLER && status.setpoint * 10 > temp + flash_getsettings()->val.hysteresis * 10)
                 thermostat_plant_on = 1;
             else if(flash_getsettings()->val.plant_type == PLANT_COOLER && status.setpoint * 10 < temp - flash_getsettings()->val.hysteresis * 10)
                 thermostat_plant_on = 0;
             // EMZ: TODO: Refactor to output_enabled or something
             if(status.pid_enabled && thermostat_plant_on)
+            {
                 // EMZ TODO: functionalize this
             	// put ssr output on display
                 ssd1306_drawstring("      ", 0, 90); //fixme: this is bad, but I can't get the old digits to clear otherwise
                 char tempstr[6];
                 itoa(ssr_output, tempstr, 10);
                 ssd1306_drawstring(tempstr, 0, 90);
 //                HAL_GPIO_WritePin(SSR_PIN, 1);
                 HAL_GPIO_WritePin(LED, 1);
+            }
             else
+            {
 //                HAL_GPIO_WritePin(SSR_PIN, 0);
                 HAL_GPIO_WritePin(LED, 0);
+            }
         	runtime_status()->temp = tempsense_readtemp();
         	duty = thermostat_process();
             last_thermostat = HAL_GetTick();
+        }
         pwmout_process(duty);
         display_process();
         watchdog_feed();
 //        // Transmit temperature over USB-CDC on a regular basis
 //        if(HAL_GetTick() - last_vcp_tx > VCP_TX_FREQ)
@@ @@ -198,10 +91,6 @@ int main(void) @@
 //            last_vcp_tx = HAL_GetTick();
 //        }
         // Run state machine
         display_process(&status);
 		watchdog_feed();
+	}
+}

src/pid.c

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@@ @@ -3,23 +3,64 @@ @@
 //
 #include "pid.h"
 #include "flash.h"
 // PID implementation
 void pid_init(pid_state_t* state)
 static pid_state_t state;
 void pid_init()
+{
 	state->i_state = 0;
 	state->last_pid_temp = 0;
 	state->last_pid_temp_frac = 0;
 	state.i_state = 0;
 	state.last_pid_temp = 0;
 	state.last_pid_temp_frac = 0;
+}
-int16_t pid_update(therm_settings_t* set, therm_status_t* status, pid_state_t *state)
+float pid_process(void)
+{
 //            #ifdef MAX31865_RTD_SENSOR
 //            max31865_readtemp(spi_get(), &set, &status);
 //			#else
 //			max31855_readtemp(spi_get(), &set, &status); // Read MAX31855
 //			#endif
 		float ssr_output = 0;
 		if(runtime_status()->pid_enabled)
+		{
 			// Get ssr output for next time
 			int16_t power_percent = pid_update();
 			if(flash_getsettings()->val.plant_type == PLANT_HEATER)
 				power_percent *= -1;
 			//power-percent is 0-1000?
 			ssr_output = power_percent; //(((uint32_t)SSR_PERIOD * (uint32_t)10 * (uint32_t)100) * power_percent) / (uint32_t)1000000;
 			// put ssr output on display
 			ssd1306_drawstring("      ", 0, 90); //fixme: this is bad, but I can't get the old digits to clear otherwise
 			char tempstr[6];
 			itoa(ssr_output, tempstr, 10);
 			ssd1306_drawstring(tempstr, 0, 90);
+		}
 		else
+		{
 			ssr_output = 0.0;
+		}
 		return ssr_output;
+}
 int16_t pid_update(void)
+{
 	therm_status_t* status = runtime_status();
 	therm_settings_t* set = flash_getsettings();
   // Convert temperature to fixed point number with 1/10th resolution
   int8_t temp_frac = status->temp_frac > 9 ? status->temp_frac / 10 : status->temp_frac;
   temp_frac = status->temp > 0 ? temp_frac : temp_frac * -1;
   int32_t temp = (status->temp * 10) + temp_frac;
   float temp = status->temp;
   // Calculate instantaneous error
   int16_t error = status->setpoint * 10 - temp; // TODO: Use fixed point fraction
@@ @@ -28,7 +69,7 @@ int16_t pid_update(therm_settings_t* set @@
   int32_t p_term = set->val.k_p * error;
   // Error accumulator (integrator)
-  state->i_state += error;
+  state.i_state += error;
   // to prevent the iTerm getting huge from lots of
   //  error, we use a "windup guard"
@@ @@ -39,18 +80,18 @@ int16_t pid_update(therm_settings_t* set @@
   int32_t windup_guard_res = (set->val.windup_guard * 10) / set->val.k_i;
   // Calculate integral term with windup guard
   if (state->i_state > windup_guard_res)
 	  state->i_state = windup_guard_res;
   else if (state->i_state < -windup_guard_res)
 	  state->i_state = -windup_guard_res;
   if (state.i_state > windup_guard_res)
 	  state.i_state = windup_guard_res;
   else if (state.i_state < -windup_guard_res)
 	  state.i_state = -windup_guard_res;
-  int32_t i_term = set->val.k_i * state->i_state;
+  int32_t i_term = set->val.k_i * state.i_state;
   // Calculate differential term (slope since last iteration)
-  int32_t d_term = (set->val.k_d * (temp - state->last_pid_temp));
+  int32_t d_term = (set->val.k_d * (temp - state.last_pid_temp));
   // Save temperature for next iteration
-  state->last_pid_temp = temp;
+  state.last_pid_temp = temp;
   int16_t result = (p_term + i_term - d_term) / 10;

src/pwmout.c

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@@ new file 100644 @@
 //
 // PWM Out: generate PWM waveform to control factory
 //
 #include "pwmout.h"
 #include "flash.h"
 static uint32_t last_ssr_on = 0;
 static uint32_t last_vcp_tx = 0;
 static uint32_t last_led = 0;
 void pwmout_init(void)
+{
+}
 void pwmout_process(float duty)
+{
 	//        // Kill SSR once the desired on-time has elapsed
 	//        if(set.val.control_mode == MODE_PID && (HAL_GetTick() - last_ssr_on > ssr_output || ssr_output <= 0))
 	//        {
 	//            HAL_GPIO_WritePin(SSR_PIN, 0);
 	//            HAL_GPIO_WritePin(LED_POWER, 0);
 	//        }
 	//
 	//
 	//        // Every 200ms, set the SSR on unless output is 0
 	//        if(set.val.control_mode == MODE_PID && HAL_GetTick() - last_ssr_on > SSR_PERIOD)
 	//        {
 	//            // Heat or cool, if we need to
 	//            if(ssr_output > 0)
 	//            {
 	//                HAL_GPIO_WritePin(SSR_PIN, 1);
 	//                HAL_GPIO_WritePin(LED_POWER, 1);
 	//                last_ssr_on = HAL_GetTick();
 	//            }
 	//            else {
 	//                // Make sure everything is off
 	//                HAL_GPIO_WritePin(SSR_PIN, 0);
 	//                HAL_GPIO_WritePin(LED_POWER, 0);
 	//            }
 	//
 	//        }
+}

src/system/flash.c

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@@ @@ -10,6 +10,7 @@ @@
 static __attribute__((__section__(".eeprom"))) uint16_t eeprom_emulation[512];
 therm_settings_t settings;
 therm_status_t status;
 // Initialize flash and restore settings
 void flash_init(void)
@@ @@ -78,3 +79,9 @@ inline therm_settings_t* flash_getsettin @@
+{
 	return &settings;
+}
 inline therm_status_t* runtime_status(void)
+{
 	return &status;
+}

src/tempsense.c

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@@ new file 100644 @@
 //
 // TempSense: read temperature from TC, RTD, or NTC
 //
 #include "tempsense.h"
 #include "flash.h"
 void tempsense_init(void)
+{
+}
 float tempsense_readtemp(void)
+{
 	// TODO: Support multiple temperature sensors
 	// either return latest reading from DMA loop (NTC, etc)
 	// or initiate a blocking read and return it.
 	// Need to gracefully handle the timeout...
+}

src/thermostat.c

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@@ new file 100644 @@
 //
 // Thermostat: Thermostatic controller
 //
 #include "thermostat.h"
 #include "flash.h"
 #include "gpio.h"
 // PID implementation
 float thermostat_process(void)
+{
 //            #ifdef MAX31865_RTD_SENSOR
 //            max31865_readtemp(spi_get(), &set, &status);
 //			#else
 //			max31855_readtemp(spi_get(), &set, &status); // Read MAX31855
 //			#endif
 			float ssr_output = 0.0;
 			uint8_t thermostat_plant_on = 0;
 			// TODO: Migrate this FxP conversion to the readtemp code or similar
 			float temp = runtime_status()->temp;
 			// EMZ FIXME: This could be way simpler
 			if(flash_getsettings()->val.plant_type == PLANT_HEATER && runtime_status()->setpoint * 10 < temp - flash_getsettings()->val.hysteresis * 10)
 				thermostat_plant_on = 1;
 			else if(flash_getsettings()->val.plant_type == PLANT_HEATER && runtime_status()->setpoint * 10 > temp + flash_getsettings()->val.hysteresis * 10)
 				thermostat_plant_on = 0;
 			if(flash_getsettings()->val.plant_type == PLANT_COOLER && runtime_status()->setpoint * 10 > temp + flash_getsettings()->val.hysteresis * 10)
 				thermostat_plant_on = 1;
 			else if(flash_getsettings()->val.plant_type == PLANT_COOLER && runtime_status()->setpoint * 10 < temp - flash_getsettings()->val.hysteresis * 10)
 				thermostat_plant_on = 0;
 			// EMZ: TODO: Refactor to output_enabled or something
 			if(runtime_status()->pid_enabled && thermostat_plant_on)
+			{
 				// EMZ TODO: functionalize this
 				// put ssr output on display
 				ssd1306_drawstring("      ", 0, 90); //fixme: this is bad, but I can't get the old digits to clear otherwise
 				char tempstr[6];
 				itoa(ssr_output, tempstr, 10);
 				ssd1306_drawstring(tempstr, 0, 90);
 //                HAL_GPIO_WritePin(SSR_PIN, 1);
 				HAL_GPIO_WritePin(LED, 1);
+			}
 			else
+			{
 //                HAL_GPIO_WritePin(SSR_PIN, 0);
 				HAL_GPIO_WritePin(LED, 0);
+			}
 			return ssr_output;
+}

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